Misc: add sensable phantom driver

Add sensable phantom driver

Signed-off-by: Jiri Slaby <jirislaby@gmail.com>
Signed-off-by: Andrew Morton <akpm@linux-foundation.org>
Signed-off-by: Linus Torvalds <torvalds@linux-foundation.org>

7 files changed, 523 insertions, 1 deletions

diff --git a/Documentation/ioctl-number.txt b/Documentation/ioctl-number.txt
index 8f750c0efe..3de7d379cf 100644
--- a/Documentation/ioctl-number.txt
+++ b/Documentation/ioctl-number.txt
@@ -138,7 +138,8 @@ Code	Seq#	Include File		Comments
 'm'     00-1F   net/irda/irmod.h        conflict!
 'n'     00-7F   linux/ncp_fs.h
 'n'     E0-FF   video/matrox.h          matroxfb
-'p'     00-3F   linux/mc146818rtc.h
+'p'     00-0F   linux/phantom.h         conflict! (OpenHaptics needs this)
+'p'     00-3F   linux/mc146818rtc.h     conflict!
 'p'     40-7F   linux/nvram.h
 'p'     80-9F                           user-space parport
                                         <mailto:tim@cyberelk.net>
diff --git a/MAINTAINERS b/MAINTAINERS
index 36e48a4e29..69f3f66091 100644
--- a/MAINTAINERS
+++ b/MAINTAINERS
@@ -3108,6 +3108,11 @@ L: 	selinux@tycho.nsa.gov (subscribers-only, general discussion)
 W:      http://www.nsa.gov/selinux
 S:      Supported
 
+SENSABLE PHANTOM
+P:      Jiri Slaby
+M:      jirislaby@gmail.com
+S:      Maintained
+
 SERIAL ATA (SATA) SUBSYSTEM:
 P:      Jeff Garzik
 M:      jgarzik@pobox.com
diff --git a/drivers/misc/Kconfig b/drivers/misc/Kconfig
index bfb02c1a45..877e7909a0 100644
--- a/drivers/misc/Kconfig
+++ b/drivers/misc/Kconfig
@@ -25,6 +25,15 @@ config IBM_ASM
           information on the specific driver level and support statement
           for your IBM server.
 
+config PHANTOM
+        tristate "Sensable PHANToM"
+        depends on PCI
+        help
+          Say Y here if you want to build a driver for Sensable PHANToM device.
+
+          If you choose to build module, its name will be phantom. If unsure,
+          say N here.
+
 
           If unsure, say N.
 
diff --git a/drivers/misc/Makefile b/drivers/misc/Makefile
index ece6baf76b..5b6d46de00 100644
--- a/drivers/misc/Makefile
+++ b/drivers/misc/Makefile
@@ -11,6 +11,7 @@ obj-$(CONFIG_BLINK)		+= blink.o
 obj-$(CONFIG_LKDTM)             += lkdtm.o
 obj-$(CONFIG_TIFM_CORE)         += tifm_core.o
 obj-$(CONFIG_TIFM_7XX1)         += tifm_7xx1.o
+obj-$(CONFIG_PHANTOM)           += phantom.o
 obj-$(CONFIG_SGI_IOC4)          += ioc4.o
 obj-$(CONFIG_SONY_LAPTOP)       += sony-laptop.o
 obj-$(CONFIG_THINKPAD_ACPI)     += thinkpad_acpi.o
diff --git a/drivers/misc/phantom.c b/drivers/misc/phantom.c
new file mode 100644
index 0000000000..35b139b0e5
--- /dev/null
+++ b/drivers/misc/phantom.c
@@ -0,0 +1,463 @@
+/*
+ *  Copyright (C) 2005-2007 Jiri Slaby <jirislaby@gmail.com>
+ *
+ *  This program is free software; you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation; either version 2 of the License, or
+ *  (at your option) any later version.
+ *
+ *  You need an userspace library to cooperate with this driver. It (and other
+ *  info) may be obtained here:
+ *  http://www.fi.muni.cz/~xslaby/phantom.html
+ */
+
+#include <linux/kernel.h>
+#include <linux/module.h>
+#include <linux/device.h>
+#include <linux/pci.h>
+#include <linux/fs.h>
+#include <linux/poll.h>
+#include <linux/interrupt.h>
+#include <linux/cdev.h>
+#include <linux/phantom.h>
+
+#include <asm/atomic.h>
+#include <asm/io.h>
+
+#define PHANTOM_VERSION         "n0.9.5"
+
+#define PHANTOM_MAX_MINORS      8
+
+#define PHN_IRQCTL              0x4c    /* irq control in caddr space */
+
+#define PHB_RUNNING             1
+
+static struct class *phantom_class;
+static int phantom_major;
+
+struct phantom_device {
+        unsigned int opened;
+        void __iomem *caddr;
+        u32 __iomem *iaddr;
+        u32 __iomem *oaddr;
+        unsigned long status;
+        atomic_t counter;
+
+        wait_queue_head_t wait;
+        struct cdev cdev;
+
+        struct mutex open_lock;
+};
+
+static unsigned char phantom_devices[PHANTOM_MAX_MINORS];
+
+static int phantom_status(struct phantom_device *dev, unsigned long newstat)
+{
+        pr_debug("phantom_status %lx %lx\n", dev->status, newstat);
+
+        if (!(dev->status & PHB_RUNNING) && (newstat & PHB_RUNNING)) {
+                atomic_set(&dev->counter, 0);
+                iowrite32(PHN_CTL_IRQ, dev->iaddr + PHN_CONTROL);
+                iowrite32(0x43, dev->caddr + PHN_IRQCTL);
+        } else if ((dev->status & PHB_RUNNING) && !(newstat & PHB_RUNNING))
+                iowrite32(0, dev->caddr + PHN_IRQCTL);
+
+        dev->status = newstat;
+
+        return 0;
+}
+
+/*
+ * File ops
+ */
+
+static int phantom_ioctl(struct inode *inode, struct file *file, u_int cmd,
+        u_long arg)
+{
+        struct phantom_device *dev = file->private_data;
+        struct phm_regs rs;
+        struct phm_reg r;
+        void __user *argp = (void __user *)arg;
+        unsigned int i;
+
+        if (_IOC_TYPE(cmd) != PH_IOC_MAGIC ||
+                        _IOC_NR(cmd) > PH_IOC_MAXNR)
+                return -ENOTTY;
+
+        switch (cmd) {
+        case PHN_SET_REG:
+                if (copy_from_user(&r, argp, sizeof(r)))
+                        return -EFAULT;
+
+                if (r.reg > 7)
+                        return -EINVAL;
+
+                if (r.reg == PHN_CONTROL && (r.value & PHN_CTL_IRQ) &&
+                                phantom_status(dev, dev->status | PHB_RUNNING))
+                        return -ENODEV;
+
+                pr_debug("phantom: writing %x to %u\n", r.value, r.reg);
+                iowrite32(r.value, dev->iaddr + r.reg);
+
+                if (r.reg == PHN_CONTROL && !(r.value & PHN_CTL_IRQ))
+                        phantom_status(dev, dev->status & ~PHB_RUNNING);
+                break;
+        case PHN_SET_REGS:
+                if (copy_from_user(&rs, argp, sizeof(rs)))
+                        return -EFAULT;
+
+                pr_debug("phantom: SRS %u regs %x\n", rs.count, rs.mask);
+                for (i = 0; i < min(rs.count, 8U); i++)
+                        if ((1 << i) & rs.mask)
+                                iowrite32(rs.values[i], dev->oaddr + i);
+                break;
+        case PHN_GET_REG:
+                if (copy_from_user(&r, argp, sizeof(r)))
+                        return -EFAULT;
+
+                if (r.reg > 7)
+                        return -EINVAL;
+
+                r.value = ioread32(dev->iaddr + r.reg);
+
+                if (copy_to_user(argp, &r, sizeof(r)))
+                        return -EFAULT;
+                break;
+        case PHN_GET_REGS:
+                if (copy_from_user(&rs, argp, sizeof(rs)))
+                        return -EFAULT;
+
+                pr_debug("phantom: GRS %u regs %x\n", rs.count, rs.mask);
+                for (i = 0; i < min(rs.count, 8U); i++)
+                        if ((1 << i) & rs.mask)
+                                rs.values[i] = ioread32(dev->iaddr + i);
+
+                if (copy_to_user(argp, &rs, sizeof(rs)))
+                        return -EFAULT;
+                break;
+        default:
+                return -ENOTTY;
+        }
+
+        return 0;
+}
+
+static int phantom_open(struct inode *inode, struct file *file)
+{
+        struct phantom_device *dev = container_of(inode->i_cdev,
+                        struct phantom_device, cdev);
+